2004 Volume 47 Issue 2 Pages 708-714
There is a growing tendency to use the Internet as the transmission medium of the telerobotic system since the Internet is inexpensive and available all over the world. However, the bilateral real-time teleroperation can be unstable due to the random time delays of the Internet. The `Event based teleoperation' is one of the fine approaches to overcome the random time delays. Since the event based control uses a non-time action reference, the stability and response performance of the system are affected by the time which an event is held for. This study introduces the variable holding time to secure stability and response performance at once. The proper holding time for each event is obtained depending on the characteristics of the task through the fuzzy logic. The proposed control scheme was implemented on a robot arm over the Internet to show its effectiveness.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering